Method for cleaning installation processing foodstuffs

ABSTRACT

A cleaning system for an installation processing foodstuffs, with a guide path and with a robot arm which is displaceable along the guide path and on which at least one nozzle for discharging a cleaning agent onto the installation, is attached in a manner such that the at least one nozzle may be moved in a targeted manner to individual points of the installation for its cleaning, by way of displacing and moving the robot arm.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Divisional of U.S. patent application Ser. No.12/706,854, filed Feb. 17, 2010, which is based on German PatentApplication No. 10 2009 009 244.7 filed Feb. 17, 2009, and thedisclosures of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

The present invention relates to a cleaning system for an installationprocessing foodstuffs, for example for a filling installation orpackaging installation for foodstuffs, as well as to an associatedcleaning method.

Installations in the foodstuffs industry, be they for processingfoodstuffs, for filling and packaging foodstuffs, need to be regularlycleaned or disinfected. Nowadays, it is usual to installcleaning-in-place systems for this, for example in drinks bottlinginstallations, which may automatically clean the installations. Forthis, it is necessary to attach spray nozzles on all installation partsto be cleaned, the nozzles being capable of spraying cleaning agents ordisinfectants, be they in liquid form or as a foam or gel, onto theinstallation parts to be cleaned. These nozzles distributed over thecomplete installation, require an extensive pipework system. For reasonsof hygiene, when designing the installations, one seeks to design thesefrom the very start in a manner such that there are as few as possiblelocations, at which contamination may accumulate. Contrary to this isthe extensive pipework, which is required for the cleaning system itself

With regard to the above set of problems, it is the object of thepresent invention to provide an improved cleaning system or a cleaningmethod for installations processing foodstuffs, which may be integratedinto the installation in a simpler manner and with a reducedcompromising of the hygienic machine design.

BRIEF SUMMARY OF THE INVENTION

The above object is achieved by a cleaning system with the featuresspecified in the claims, as well as by a cleaning method with thefeatures specified in the claims. Preferred embodiments are to bededuced from the associated dependent claims, the subsequent descriptionand the attached figures.

The essential idea of the present invention is not to envisage thecleaning of the installation with a multitude of fixedly installednozzles at all locations to be cleaned, but rather to apply a reducednumber of moving nozzles, which may be displaced in a targeted manner tothe locations of the installation, which are to be cleaned. For this,one envisages arranging a guide path, on which a robot arm is mounted ina displaceable manner. The guide path thus forms a rail, along which therobot arm may be moved. The robot arm itself, at its freely movable end,carries at least one nozzle for discharging a cleaning agent. This maybe a cleaning agent or a disinfectant, be it in liquid form or as afoam, gel, water or steam, or another medium required for cleaning theinstallation. The robot arm itself permits a movability of the nozzlerelative to the articulation point on the guide path, so that the robotgives the movement of the nozzle yet further degrees of freedom beyondthe movability along the guide path. The number of degrees of freedom ofthe robot arm and its exact geometric design, as well as the exactarrangement of the guide path are selected such that the at least onenozzle may be moved to all locations of the installation which are to becleaned, by way of displacing and moving the robot arm, in order thereto then discharge the cleaning agent in a precise manner.

The complete fixed pipework for a cleaning system or disinfection systemon the installation becomes superfluous on account of this designaccording to the present invention. This significantly simplifies theconstruction of the installation and improves the hygienic design of theinstallation, since no additional locations at which contamination mayaccumulate, are created by way of the cleaning system. Moreover, thesystem according to the present invention permits a very flexiblecleaning of the installation, since the cleaning process may be changedand adapted to differing demands by way of a simple change of thecontrol of the displacement and movement system of the robot. Thus,spray angles of the nozzle and likewise, may be easily changed, in orderto be able to optimally adapt cleaning functions, without having tocarry out conversion measures on the installation.

The robot arm preferably comprises at least two and further preferablysix degrees of freedom for the movement of the nozzle. Thereby, it isthe case of degrees of freedom with respect to the articulation point onthe guide path. The movability along the guide path then forms anadditional degree of freedom. The robot arm may be designed as anarticulated arm robot similarly to a common industrial robot. However,one may also apply other robot arms. For example, it may also be thecase of a pendulum arm robot or a cylindrical coordinate robot. A portalsystem would also be conceivable. The number of required degrees offreedom and the exact design principle depends significantly on theconstruction of the installation to be cleaned. The robot arm and theguide path need to be arranged such that all points to be cleaned may bemoved to. The nozzle is preferably arranged at the free outer end of therobot, so that it has an as large as possible movement ability.

Usefully, the guide path is attached above the installation to becleaned and the robot is guided in a suspended manner on the guide path.This construction hardly compromises the installation to be cleaned.Moreover, the accessibility of the installation from all sides is notrestricted by the cleaning system. The guide path itself and the robotarm are less easily contaminated. However, it would also be basicallypossible to arrange the guide path laterally of, or below theinstallation to be cleaned, and to guide the robot on the guide path, asthe case may be, accordingly in a standing or laterally suspendedmanner. It is also conceivable for the guide path to change its verticalposition relative to the installation during its course, i.e. to beguided laterally or below the installation in some regions of theinstallation, and above the installation in other installation regions.

The guide path preferably runs at least along the outer contour of theinstallation, in particular along the complete outer contour, so thatthe robot arm and the nozzle may be moved up to the installation fromall sides.

The system according to the present invention is not limited to thecleaning of an individual installation, but rather it is also possibleto arrange the guide path along several installations to be cleaned.These may be installations which have an interrelationship with oneanother, or however installations which are independent of one another,but which are cleaned by one and the same cleaning robot. Thus, forexample, it is possible in a filling operation with several fillinglanes, to provide a single cleaning robot, which cleans the lanes in analternating manner, whilst the other filling installations are in normaloperation. For this, the robot arm is merely displaced along the guidepath to the installation which is to be cleaned at that time. Thecleaning system according to the present invention is thereby notlimited to the cleaning of installations, but also further objects orthe room in which the cleaning system is located, may be cleaned. Theguide path needs only to be arranged in a suitable manner, such that therobot arm may reach all regions to be cleaned. This way the investmentcosts may be reduced, since the number of required robot arms isreduced. Thereby, one should understand that the system according to thepresent invention is not limited to the arrangement of a robot arm, butit is also conceivable to provide several robot arms on the system, inorder to be able to carry out the cleaning more rapidly.

It is necessary to provide the guide path with branches in more complexsystems. Thus, at least one branch may be present in the guide path,wherein a diverter or rotary plate for direction change is arranged atthe branch point. The robot arm may be rotated on the spot with therotary plate. One may thus achieve very small bending radii. A portionof the guide path with the robot arm positioned at this location isrotated on the spot, on the rotary plate. As a whole, the guide path maybe constructed in a modular manner. This means that standard sectionswith straight lines or radii may be provided, which may be suitablycombined with one another depending on the place of application, inorder to form a guide path which is suited to the respectiveinstallation. Alternatively, individual part portions with specialshapes or radii of curvature may also be manufactured. The modularconstruction however has the advantage that the number of individualparts which are to be manufactured for the guide path may be reduced toa few standard parts.

According to a further preferred embodiment of the present invention, acleaning station is provided in the system, to which the guide pathleads and at which cleaning nozzles are arranged for the outer cleaningof the robot arm. This permits the robot arm to be displaced along theguide path into the cleaning station and to be cleaned there from theoutside with the cleaning nozzles installed in a fixed manner, withsuitable cleaning media and disinfecting media. The robot arm itself ispreferably provided with a protective casing or protective jacket, forexample of a sealed plastic film, so that on the one hand acontamination of the mechanical parts of the robot arm is prevented, andon the other hand one prevents contamination getting into theinstallation from the robot arm. Such a protective jacket may be easilycleaned by way of spraying.

The guide path is preferably formed of at least one round profile,further preferably of two round profiles running parallel to oneanother. Such round profiles, for example of stainless steel, areavailable as standard parts such as tubes or solid material. Moreover,they may be easily bent into the desired radii and have a smooth, easilycleaned surface, on which it is difficult for contamination toaccumulate. Preferably, the rail or the guide path is formed of tworound profiles or tubes, which are arranged parallel to one another.Such an arrangement permits an improved guiding of the robot arm, sincea swinging or a rotation about the longitudinal axis of the guide pathmay be prevented. The two round profiles are preferably firmly connectedto one another via transverse webs. The transverse webs are furtherpreferably arranged at regular distances to one another, so that theymay simultaneously serve for path detection or position detection ondisplacing the robot along the guide path, since the number of passedwebs may be simply counted by way of a suitable detection system, inorder thus to determine the covered path distance and thus the positionof the robot arm. Additionally or alternatively, the position detectionmay also be effected via other path measurement systems or recordingsystems, for example the revolutions of a drive wheel or guide wheelrolling on the guide path may also be counted.

Further preferably, a fluid conduit for the supply of the cleaning agentmay be formed in the inside of the guide path. This is possible in aparticularly favorable manner if the guide path comprises at least onetubular profile, since this tube may then simultaneously lead thecleaning medium in its inside. The number of individual parts and thematerial expense may be reduced in this manner.

In a further preferred embodiment of the present invention, the cleaningagent supply to the robot arm is effected via a flexible tubing conduit,which connects the robot arm to a central connection for the supply ofthe cleaning agent. Thus, for example, with a tubular contour of theguide path, the central connection may be arranged essentially in themiddle of the path, and the flexible tubing extends from there roughlyradially to the robot arm on the guide path. With a movement of therobot arm, the flexible tubing then revolves around the centralconnection. A rotating connection or rotation coupling is preferablyprovided in this, so that the movement of the robot arm along the guidepath is not limited by this flexible tubing feed. The electrical energysupply of a drive on the robot arm may also be effected via a suitablecable, which extends similarly to the flexible tubing conduit. Data orcontrol leads may thus be laid. Data signals or control signals couldhowever also be effected in a wireless manner via radio. The electricalenergy supply may moreover also be realized via electrical rails alongthe guide path.

According to a further preferred embodiment of the present invention, adocking station is arranged on the guide path, said docking stationcomprising connection couplings for at least one fluid conduit andpreferably at least one electrical connection, wherein the robot armcomprises corresponding connection couplings, which on reaching thedocking station may come into engagement with the connection couplingsof the docking station. The corresponding connection couplings of therobot arm are preferably arranged on or in the base of the robot arm,which is guided in a displaceable manner on the guide path. The dockingstation and the corresponding connection couplings permit the robot armwith its connection couplings to be able dock onto the connectioncouplings of the docking station when the robot arm has reached thedocking station on the guide path, so that there, a connection of thefluid conduit between the docking station and the robot arm, and, as thecase may be, also electrical connections may be created. In this manner,the supply of the cleaning agents may be effected by the fluid conduitfrom the docking station into the robot arm. Thus, one may make dowithout the supply by way of a flexible tubing conduit to a centralpoint. Instead, suitable docking stations are then arranged preferablyat all points of the guide path, at which cleaning tasks are to becarried out by the robot arm, in order to be able to ensure the supplyof a cleaning agent to the robot arm at these locations. The robot armthen leads from docking station to docking station, in order there ineach case to dock on and carry out a cleaning procedure at a specialpoint or region of the installation. The electricity supply of the robotarm may likewise be effected via the docking station or as describedabove, for example via electric rails along the guide path. If theelectricity supply is effected via the docking station, it may be usefulto provide the robot arm with an energy storage device, for example abattery, which permits the robot arm to be able to move from one dockingstation to the next with its own propulsion. The signal transmission forsensor signals or control signals is effected in this case preferablyvia radio, but could however also be realized via electrical contacts onthe docking station.

It is also possible to reduce the cleaning agent supply and theelectrical connections of the robot arm in a combination of a centralsupply and a type of docking station. If the guide path is designed suchthat several installations for example in a large hall may be cleanedwith one robot arm, then it is conceivable for a docking station to beprovided in the region of each installation, to which docking stationthe robot then couples, wherein this docking station together with therobot may be moved over a certain region of the guide path, in whichthen the cleaning agent supply and, as the case may be, the electricenergy supply are effected via flexible tubing conduits or cables from acentral point. If the robot then moves further to the next installation,it decouples from the docking station, moves to the next installationand then couples again to a respective docking station. In this manner,one may clean very large installations without any problem by way of oneor a few robot arms with the previously described design. The individualinstallations or installation parts need to only be connected to oneanother via suitable guide paths, so that the robot arm may move betweenthe individual installations.

Preferably, the robot arm comprises a displacement unit, which is guidedon the guide path and has a drive for displacing the robot arm along theguide path. The displacement unit forms the base of the robot arm, whichholds the robot arm on the guide path. The displacement unit preferablycomprises several guide rollers or drive rollers, wherein it issufficient to drive one roller. Preferably, the drive roller rolls onthe guide path with a friction fit. However, it is also conceivable toprovide a toothing, via which a drive pinion engages with the guide pathwith a positive fit. Preferably, an electrical drive motor is arrangedin the displacement unit, which drives one or more drive rollers.

The robot arm itself is preferably formed of two limbs, wherein a firstlimb extends proceeding from the guide path, and the second limb ispreferably pivotably articulated on the end of the first limb, which isdistant to the guide path. In the case of a guide path arranged at thetop, the first limb extends preferably perpendicularly downwards fromthe guide path, and the second limb extends transversely to thisdirection, wherein it is preferably pivotable by 180° relative to thelongitudinal axis of the first limb. This means that the limb may foldperpendicularly to the top and may be pivoted beyond an alignment of 90°to the first limb up to a position, in which it points essentiallydownwards. However, one does not need to provide a pivot range ofprecisely 180°, but a smaller pivot range is also conceivable, whereinthe pivot movement is preferably effected in a plane, which extendsparallel to the longitudinal axis of the first limb.

The first limb which extends preferably in the vertical direction, ispreferably designed in a telescopic manner, so that the verticaldistance of the nozzle to the guide path may be changed by way ofretracting and extending the perpendicular limb. The second limb mayalso be designed in a telescopic manner.

Further preferably, at least one of the limbs is rotatable about itsaxis. Particularly preferably, both limbs are rotatable about theiraxis.

The second limb at its free end which is distant to the first limbpreferably carries a nozzle holder with the nozzle. Thereby, the nozzleholder is preferably arranged in a rotatable manner. Particularlypreferably, the nozzle holder extends at the end of the second limbperpendicular to this and is rotatable about its longitudinal axis. Theactual nozzle thereby is preferably directed in a direction parallel tothe second limb, so that the jet direction of the nozzle may be rotatedby 360° by way of rotating the nozzle holder.

The cleaning agent supply in the robot arm is effected either by way ofa flexible tubing conduit laid on the outside of the robot, wherein thisis then preferably arranged within a protective jacket of the robotinasmuch as this is provided. Alternatively, it is also possible to letthe cleaning agent supply run through the inside of the robot arm.Combinations of both systems are also possible. Thus, it is particularlypreferable for the cleaning agent supply along the first telescopic limbto be effected through a spiral flexible tubing, wherein this spiralflexible tubing then runs out into the second limb. This run-out ispreferably arranged in a section of the second limb, which is proximalto the first limb. The further cleaning agent supply to the nozzle isthen effected through the inside of the second limb, so that this as awhole may be designed relatively thin and slim, so that it may alsopenetrate into restricted free spaces in the installation for itscleaning

Particularly preferably, the cleaning agent supply in the second limb iseffected through a tube situated in the inside of the second limb. Thistube may then simultaneously serve for transmitting a rotationalmovement onto the nozzle holder. Thus, as a whole, a very slim design ofthe second limb may be achieved by two tubes arranged concentrically inone another. Thereby, the outer tube may preferably rotate about itslongitudinal axis, so that the nozzle or the nozzle holder may berotated about the longitudinal axis of the second limb. Moreover, in thecase that the nozzle holder extends normally to this longitudinal axis,a rotation of the nozzle holder about its longitudinal axis extendingtransversely to the longitudinal axis of the second limb is possible byway of a rotation of the inner tube via a bevel gearing.

With a further preferred embodiment of the present invention, the robotarm comprises a tool receiver, which preferably is arranged at the freeend of the robot arm, and into which a nozzle holder with the nozzle isreceived in an exchangeable manner. This permits a simple nozzle change,since the nozzle may be removed from the tool receiver and be replacedby a different nozzle. Such an exchange of the nozzle holder maypreferably be effected in an automatic manner. For this, an exchangesystem may be provided in the cleaning system, on which the variousnozzle holders may be kept ready and to which the robot arm may be movedfor nozzle change, wherein the robot arm then lays down a nozzle holderand picks up a different nozzle holder. The tool receiver then ispreferably provided with a coupling device which is actuated in anautomatic or remote-controlled manner, for gripping and releasing thenozzle holders.

Further preferably, the robot arm comprises a tool receiver, which isdesigned for receiving processing tools and/or handling tools and/orsensors. Preferably, this is the same tool receiver which also servesfor receiving different nozzle holders. This permits the robot arm toalso be able to carry out different processing tasks or handling tasks,so that a universal application of the robot arm in the installation ispossible. Thus, the robot arm, in a packaging installation, may forexample serve for inserting the products into a packaging when forexample they are not participating in the cleaning procedures. Idletimes of the robot arm, in which this is not used, are avoided in thismanner. However, it is to be understood that corresponding handlingdevices or processing devices may also be arranged in a fixed manner onthe robot arm simultaneously to a nozzle holder, so that an exchange ofthe individual tools or nozzle holders is not necessary, but these areconstantly carried along with the robot arm.

As described, the robot may be applied for handling purposes orprocessing purposes during the times in which it is not used forcleaning tasks.

Moreover, the application of bio-monitoring is also possible. For this,the robot arm then carries at least one sensor which is suitable forpreferably optically reading off certain control points on theinstallation. This sensor may be attached on the robot arm in a fixedmanner or for example may also be designed as an exchangeable tool,which is only received by the robot arm, when the robot arm is appliedfor the bio-monitoring.

The present invention further relates to a cleaning method for cleaningan installation processing foodstuffs. With regard to the cleaningmethod, preferably a cleaning system according to the precedingdescription is applied. For this reason, it is to be understood thatfeatures which have been described above with regard to the cleaningsystem, may likewise be used with the subsequently described cleaningmethod.

With regard to the cleaning method according to the present invention, anozzle for discharging a cleaning agent is moved by way of a robot armdisplaceable on a guide path, to the points of the installation whichare to be cleaned. There, the cleaning agent is then discharged out ofthe nozzle onto the installation. This permits the precise cleaning ofinstallation parts by way of displacing and suitably placing the nozzle.This means that the installation no longer needs to be sprayed with acleaning agent in a large-surfaced manner, but one may clean the regionswhich are prone to contamination in a targeted manner. Also, individualregions may be cleaned in a differently intense manner and also atdifferent time intervals. Here, the method according to the presentinvention permits a very flexible design of the cleaning procedure.Thus, the quantity of the required cleaning agent may be reduced.Moreover, a complicated installation of a cleaning system within theinstallation is no longer required.

Moreover, one preferably envisages the robot arm being displaced alongthe guide path into a cleaning station, in which one cleans from theoutside by way of stationary cleaning nozzles. This is effectedpreferably after the cleaning tasks carried out by the robot arm, sothat subsequently the robot itself is cleaned and then is ready in acleaned manner for the next application. However, it is also conceivableto clean the robot arm directly before a cleaning procedure, in order toprevent the installation being contaminated by the robot itself oncleaning the installation.

It is particularly preferable for the robot arm to be applied forhandling tasks, processing tasks or monitoring tasks or other tasks inthe installation, during the times in which it carries out no cleaningtasks. Thus, a universal use of the robot arm is achieved, which avoidsstandstill periods. For example, the robot arm may be applied in orderto insert goods or products into packages in a packaging installation.Moreover, filled receptacles may be taken from a conveyor belt anddeposited onto pallets and likewise. Moreover, the robot arm may alsoassume monitoring and control tasks, for example may carry out abio-monitoring within the installation via suitable sensors attached onthe robot arm, by way of moving to individual points during operationand scanning or reading out bio-indicators which are attached there, byway of a sensor attached on the robot arm, for example a camera.

The cleaning system according to the preceding description preferablycomprises a control device which controls the complete cleaningprocedure. This control device may be linked to the usual installationcontrol or machine control of the installations to be cleaned, so thatthe cleaning procedures may be carried out automatically at certainpoints in time. Moreover, the machine control may then also activate therobot arm at times in which the robot arm is not applied for cleaning,in order to carry out the mentioned other tasks.

Particularly preferably, the cleaning system according to the presentinvention and the cleaning method are applied in an installation forprocessing foodstuffs or in an installation for packaging or fillingfoodstuffs, for example in a bottle filling installation. Installationswith such a cleaning system are likewise the subject matter of theinvention.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The foregoing summary, as well as the following detailed description ofthe invention, will be better understood when read in conjunction withthe appended drawings. For the purpose of illustrating the invention,there are shown in the drawings embodiments which are presentlypreferred. It should be understood, however, that the invention is notlimited to the precise arrangements and instrumentalities shown.

The invention is described hereinafter by way of example and by way ofthe attached figures. There are shown in the drawings:

FIG. 1 is a schematic perspective view of a filling installation with acleaning system according to a preferred embodiment of the presentinvention;

FIG. 2 is a side elevation view of the installation according to FIG. 1;

FIG. 3 is a magnified perspective view of a robot arm according to FIGS.1 and 2;

FIG. 4 is a cross-sectioned view of a rear end of a second limb of therobot arm, the end being proximal to a first limb; and

FIG. 5 is a cross-sectioned view of a front free end of the second limb.

DETAILED DESCRIPTION OF THE INVENTION

Certain terminology is used in the following description for convenienceonly and is not limiting. The words “lower,” “upper,” “top,” “front” and“rear” designate directions in the drawings to which reference is made.Unless specifically set forth herein, the terms “a,” “an” and “the” arenot limited to one element, but instead should be read as meaning “atleast one.” The terminology includes the words noted above, derivativesthereof and words of similar import.

Referring to the drawings in detail, wherein like numerals indicate likeelements throughout the several views, FIG. 1 schematically shows theentire view of an installation processing foodstuffs, in the form of abottler 2, on which the cleaning system according to the presentinvention is attached. The cleaning system according to the presentinvention preferably comprises a guide path 4, which is arranged abovethe bottler 2 and travels around this on its outer contour. Thus, theguide path 4 roughly forms an oval, wherein additionally a middle web 6is provided in the middle and a tangential branch 8 at one side. Themiddle web 6 is connected via a rotary plate 10 to the surrounding oval.The tangential branch 8 is connected to the oval via a diverter 12. Theguide path 4 itself is formed from two tubes 14 which are arranged aboveone another and extend parallel to one another. A robot arm 16 isdisplaceable on this guide path 4. For this, the robot arm 16 with itsbase 18 which forms a displacement unit, is mounted on the guide path 4.

Guide rollers 20 as well as a drive roller 22 are preferably arranged onthe base of the robot arm 16. The driver roller 22 is driven via anelectric motor 24. The rollers 20 and 22 are exposed on one side of thebase 18, and engage around the upper side and the lower side of the pairof guide rollers 14 of the guide path 4. The laterally open arrangementhas the advantage that the rollers 20, 22 are easy to clean.

Proceeding from the base 18, a first limb 26 of the robot arm extendsperpendicularly downwardly. The first limb 26 in the example shown hereis designed in a triple telescopic manner. The extension of thetelescope is effected by its intrinsic weight. The retraction iseffected by way of a pull cable which is arranged in the inside of thelimb 26 and which may be rolled up in the base 18 by way of an electricmotor.

A second limb 28 is attached on the first limb 26 at the longitudinalend of the first limb 26, which is distant to the base 18. The secondlimb 28 is pivotable via a pivot drive 30 in the direction of the arrowA, i.e. it pivots about a pivot axis, which extends normally to thelongitudinal axis X of the first limb 28, wherein the longitudinal axisX as well as the longitudinal axis Y of the second limb 28 run in aplane. Moreover, a rotation drive 32 is provided in the vicinity of thepivot drive 30, via which rotation drive 32 the second limb 28 isrotatable about its longitudinal axis Y. The limb 26 is also rotatablypivotable about its longitudinal axis X, via a rotation drive arrangedin the base 18.

The second limb 28 at its free end carries a tool receiver 34, in whicha nozzle holder 36 is accommodated. Thereby, the nozzle holder 36extends in a direction at right angles to the longitudinal axis Y of thesecond limb 28. The nozzle holder 36 is rotatable about its own axis viaa further rotation drive 32. For this, a rotatable tube 37 is arrangedin the inside of the second limb 28 and at its front end rotatablydrives the nozzle holder 36 via a bevel gear 39. The rotation drive 32for the inner tube 37 is arranged at its rear end which is proximal tothe first limb 26, in the vicinity of the pivot drive 30, and rotatinglydrives the tube 37 via a gearwheel pair 35. This inner tube 37simultaneously serves for the supply of the cleaning agent to the nozzlein the nozzle holder 36. For this, the cleaning agent is fed into thesecond limb 28 or the inner tube 37, at the rear end, i.e. the end whichis proximal to the first limb 26. The cleaning agent feed is effectedalong the first limb 26 via a spiral flexible tubing which is not shownhere. Alternatively, it would also be conceivable to apply the cleaningagent into the inside of the first limb 26.

The complete robot arm 16 is encased by a protective jacket, whichhowever is not shown here. This protective jacket of plastic film ortissue protects the robot arm from contamination and ensures that therobot arm 16 may be held in a hygienically immaculate condition.

For cleaning the installation 2, the robot arm 16 is displaced along theguide path 4 such that by way of extending the telescope of the firstlimb 26 and moving the second limb 28 about the different axes, it maybring the nozzle of the nozzle holder 36 into those positions relativeto the bottling installation 2, in which the required regions orlocations of the installation 2 which require cleaning, may be cleanedin a targeted manner, by way of them being sprayed with cleaning agentor disinfectant. Thus, the robot arm 16 may travel successively to thelocations of the installation 2 which are to be cleaned, along the guidepath 4. The supply of energy and cleaning agent to the robot arm 16 isthereby effected via cables or conduits from a central point in theinside of the oval spanned by the guide path 4. These conduits are notshown in the figures. A data communication to the robot arm 16 may beeffected via suitable leads, but may also be effected in a wirelessmanner.

The robot arm 16 is displaced onto the rotary plate 10, in order to beable to travel the middle web. This plate is then rotated by 90°,wherein a part of the guide path 4, on which the robot arm 16 is locatedat this moment, is likewise rotated by 90°, so that it extends in thedirection of the middle web and the robot arm may then move onto this.

The branch 8 leads to a maintenance and cleaning station for the robotarm 16, which is not shown here. The robot arm 16 may be moved to here,in order to clean it. Cleaning nozzles which are installed in a fixedmanner, may be arranged on the cleaning station, and these may spray orrinse the robot arm 16. Moreover, e.g. one may also provide a toolexchange station there, at which the robot arm 16 may automaticallyexchange the nozzle holder 36 for another nozzle holder 36, handlingtools or processing tools or sensors, with which further processingtasks may be carried out.

Instead of accomplishing the cleaning agent supply to the robot arm 16via a central flexible tubing conduit, one may also arrange severaldocking stations 38 along the guide path, of which only one is shown inthe figure. These docking stations 38 comprise connection couplings fora fluid conduit, and, as the case may be, for electrical connections.The base 18 of the robot arm is then provided with suitably fittingcouplings, which are not shown here and which may engage with thedocking station 38 when the robot arm 16 is located along the guide path4 at the position of a docking location 38. Then a fluid connection tothe robot arm 16, by way of which the cleaning agent may be supplied,may be created at this location via the docking station 38. Thesedocking stations 38 are arranged at all the points along the guide path4, at which the robot arm 16 must stop in order to carry out cleaningtasks. The electrical energy supply may also be effected via the dockinglocation 38. A battery may be provided in the base, in order to supplythe electrical drive with energy during the displacement, in order topermit a displacement of the robot arm 16 from docking station 38 todocking station 38. The battery may then be charged again at the dockingstation.

Additionally to the nozzle holder 36, one may yet arrange sensors on therobot arm 16. Alternatively, these sensors may be provided in a mannerwhich is exchangeable with the nozzle holder 36, so that the nozzleholder 36 may be replaced by a sensor by way of a tool change. Thesensor may e.g. be used in order to travel to certain locations orpoints in the filling installation 2 with the help of the robot arm 16,and there, to carry out a bio-monitoring by reading or scanning ofindicator elements. The robot arm in this manner may also be used evenwhen it is not applied for cleaning purposes. One may also provide anautomatic bio-monitoring without additional devices.

It will be appreciated by those skilled in the art that changes could bemade to the embodiments described above without departing from the broadinventive concept thereof. It is understood, therefore, that thisinvention is not limited to the particular embodiments disclosed, but itis intended to cover modifications within the spirit and scope of thepresent invention as defined by the appended claims.

I claim:
 1. A cleaning method for cleaning an installation processingfoodstuffs, with which a nozzle for discharging a cleaning agent ismoved by way of a robot arm (16) displaceable on a guide path (4), tothe points of the installation (2) to be cleaned, and there the cleaningagent is discharged out of the nozzle onto the installation (2).
 2. Acleaning method according to claim 1, with which, for cleaning the robotarm (16), this is displaced along the guide path (4) into a cleaningstation, in which it is cleaned from the outside by way of cleaningnozzles.
 3. A cleaning method according to claim 1, with which the robotarm (16) is applied for handling tasks, processing tasks or monitoringtasks in the installation, in the times in which it does not carry outcleaning tasks.